convert locationd to c++ (#20622)

* live_kf to c++

* first locationd code

* Running in process_replay

* locationd handle cam_odo and live_calib

* log event handlers

* working message receiving

* compiling message sending

* correctly sending some messages

* correct receiving and sending

* update ref_commit with some all_alive_and_valid being false, minor fixes

* fix std abs

* linking on device fix

* fix cpu usage test

* generate kf constants and defines

* fix replay test

* replay without acks, cleanup

* operate on bytearray messages

* cleanup

* send msg fix

* small sleep, less flaky test

* remove python locationd

* review feedback

* bump rednose
old-commit-hash: 3420707ad58b060333246eb43db09474bb336d39

common/transformations/coordinates.cc

@@ -6,8 +6,6 @@
 
 #include "coordinates.hpp"
 
-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-#define RAD2DEG(x) ((x) * 180.0 / M_PI)
 
 
 double a = 6378137; // lgtm [cpp/short-global-name]

common/transformations/coordinates.hpp

@@ -1,5 +1,8 @@
 #pragma once
 
+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+#define RAD2DEG(x) ((x) * 180.0 / M_PI)
+
 struct ECEF {
   double x, y, z;
   Eigen::Vector3d to_vector(){
@@ -9,6 +12,9 @@ struct ECEF {
 
 struct NED {
   double n, e, d;
+  Eigen::Vector3d to_vector(){
+    return Eigen::Vector3d(n, e, d);
+  }
 };
 
 struct Geodetic {